@article{villard2009prototype,
  title = {A prototype percutaneous transhepatic cholangiography training simulator with real-time breathing motion},
  author = {Villard, Pierre-Fr{\'e}d{\'e}ric and Vidal, Franck P and Hunt, Carrie and Bello, Fernando and John, Nigel W and Johnson, Sheena and Gould, Derek A},
  journal = {International journal of computer assisted radiology and surgery},
  volume = {4},
  number = {6},
  pages = {571--578},
  year = {2009},
  publisher = {Springer-Verlag}
}